diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4036e3c17..b3780a93d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,28 +37,41 @@ set(CXX_DISABLE_WERROR TRUE)
 
 set(PROJECT_NAME coal)
 set(PROJECT_ORG "coal-library")
-set(PROJECT_DESCRIPTION
+set(
+  PROJECT_DESCRIPTION
   "Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library"
-  )
+)
 set(PROJECT_URL "https://github.com/coal-library/coal")
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
-SET(PROJECT_COMPATIBILITY_VERSION AnyNewerVersion)
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(PROJECT_COMPATIBILITY_VERSION AnyNewerVersion)
 # To enable jrl-cmakemodules compatibility with workspace we must define the two
 # following lines
 set(PROJECT_AUTO_RUN_FINALIZE FALSE)
 set(PROJECT_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR})
 
-SET(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
-SET(DOXYGEN_USE_TEMPLATE_CSS TRUE)
+set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
+set(DOXYGEN_USE_TEMPLATE_CSS TRUE)
 
 # ----------------------------------------------------
 # --- OPTIONS  ---------------------------------------
 # Need to be set before including base.cmake
 # ----------------------------------------------------
 option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
-option(COAL_TURN_ASSERT_INTO_EXCEPTION "Turn some critical Coal asserts to exception." FALSE)
-option(COAL_ENABLE_LOGGING "Activate logging for warnings or error messages. Turned on by default in Debug." FALSE)
-option(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL "Make Coal retro-compatible with HPP-FCL." FALSE)
+option(
+  COAL_TURN_ASSERT_INTO_EXCEPTION
+  "Turn some critical Coal asserts to exception."
+  FALSE
+)
+option(
+  COAL_ENABLE_LOGGING
+  "Activate logging for warnings or error messages. Turned on by default in Debug."
+  FALSE
+)
+option(
+  COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL
+  "Make Coal retro-compatible with HPP-FCL."
+  FALSE
+)
 
 # Check if the submodule cmake have been initialized
 set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
@@ -70,22 +83,24 @@ else()
     get_property(
       JRL_CMAKE_MODULES
       TARGET jrl-cmakemodules::jrl-cmakemodules
-      PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
+      PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+    )
     message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
   elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
     message(
       FATAL_ERROR
-        "\nCan't find jrl-cmakemodules. Please either:\n"
-        "  - use git submodule: 'git submodule update --init'\n"
-        "  - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
-        "  - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
+      "\nCan't find jrl-cmakemodules. Please either:\n"
+      "  - use git submodule: 'git submodule update --init'\n"
+      "  - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
+      "  - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
     )
   else()
     message(STATUS "JRL cmakemodules not found. Let's fetch it.")
     include(FetchContent)
     FetchContent_Declare(
       "jrl-cmakemodules"
-      GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
+      GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git"
+    )
     FetchContent_MakeAvailable("jrl-cmakemodules")
     FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
   endif()
@@ -94,18 +109,18 @@ endif()
 # Use BoostConfig module distributed by boost library instead of using FindBoost module distributed
 # by CMake.
 # There is one unresolved issue with FindBoost and clang-cl so we deactivate it in this case.
-IF(NOT WIN32 OR NOT ${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
-  IF(POLICY CMP0167)
-    CMAKE_POLICY(SET CMP0167 NEW)
+if(NOT WIN32 OR NOT ${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
+  if(POLICY CMP0167)
+    cmake_policy(SET CMP0167 NEW)
     # Set a default value to this policy to avoid issue with find_dependency
     # macro redefinition with different policy in some modules.
-    SET(CMAKE_POLICY_DEFAULT_CMP0167 NEW)
-  ENDIF()
-ENDIF()
+    set(CMAKE_POLICY_DEFAULT_CMP0167 NEW)
+  endif()
+endif()
 
 include("${JRL_CMAKE_MODULES}/base.cmake")
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+project(${PROJECT_NAME} ${PROJECT_ARGS})
 
 include("${JRL_CMAKE_MODULES}/boost.cmake")
 include("${JRL_CMAKE_MODULES}/python.cmake")
@@ -113,32 +128,40 @@ include("${JRL_CMAKE_MODULES}/apple.cmake")
 include("${JRL_CMAKE_MODULES}/ide.cmake")
 include(CMakeDependentOption)
 
-SET(CMAKE_MODULE_PATH
+set(
+  CMAKE_MODULE_PATH
   ${JRL_CMAKE_MODULES}/find-external/assimp/
-  ${CMAKE_MODULE_PATH})
+  ${CMAKE_MODULE_PATH}
+)
 
-FUNCTION(set_standard_output_directory target)
-  SET_TARGET_PROPERTIES(
+function(set_standard_output_directory target)
+  set_target_properties(
     ${target}
     PROPERTIES
       RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin
       LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
       ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
   )
-ENDFUNCTION()
+endfunction()
 
-set_default_cmake_build_type("RelWithDebInfo")
+SET_DEFAULT_CMAKE_BUILD_TYPE("RelWithDebInfo")
 
 # If needed, fix CMake policy for APPLE systems
 APPLY_DEFAULT_APPLE_CONFIGURATION()
 
-OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
-CMAKE_DEPENDENT_OPTION(GENERATE_PYTHON_STUBS "Generate the Python stubs associated to the Python library" OFF BUILD_PYTHON_INTERFACE OFF)
+option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+cmake_dependent_option(
+  GENERATE_PYTHON_STUBS
+  "Generate the Python stubs associated to the Python library"
+  OFF
+  BUILD_PYTHON_INTERFACE
+  OFF
+)
 
 ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.0")
 
 if(BUILD_PYTHON_INTERFACE)
-  SET(PYTHON_COMPONENTS Interpreter Development NumPy)
+  set(PYTHON_COMPONENTS Interpreter Development NumPy)
   FINDPYTHON(REQUIRED)
   ADD_PROJECT_PRIVATE_DEPENDENCY(eigenpy 2.9.2 REQUIRED)
 endif()
@@ -146,8 +169,16 @@ endif()
 # Required dependencies
 SET_BOOST_DEFAULT_OPTIONS()
 EXPORT_BOOST_DEFAULT_OPTIONS()
-ADD_PROJECT_DEPENDENCY(Boost REQUIRED chrono thread date_time serialization filesystem)
-if (COAL_ENABLE_LOGGING)
+ADD_PROJECT_DEPENDENCY(
+  Boost
+  REQUIRED
+  chrono
+  thread
+  date_time
+  serialization
+  filesystem
+)
+if(COAL_ENABLE_LOGGING)
   ADD_PROJECT_DEPENDENCY(Boost REQUIRED log)
 endif()
 if(BUILD_PYTHON_INTERFACE)
@@ -165,14 +196,14 @@ endif()
 # Optional dependencies
 ADD_PROJECT_DEPENDENCY(octomap PKG_CONFIG_REQUIRES "octomap >= 1.6")
 if(octomap_FOUND)
-  SET(COAL_HAS_OCTOMAP TRUE)
+  set(COAL_HAS_OCTOMAP TRUE)
   string(REPLACE "." ";" VERSION_LIST ${octomap_VERSION})
   list(GET VERSION_LIST 0 OCTOMAP_MAJOR_VERSION)
   list(GET VERSION_LIST 1 OCTOMAP_MINOR_VERSION)
   list(GET VERSION_LIST 2 OCTOMAP_PATCH_VERSION)
   message(STATUS "COAL uses Octomap")
 else()
-  SET(COAL_HAS_OCTOMAP FALSE)
+  set(COAL_HAS_OCTOMAP FALSE)
   message(STATUS "COAL does not use Octomap")
 endif()
 
@@ -183,30 +214,37 @@ if(COAL_HAS_QHULL)
     set(COAL_USE_SYSTEM_QHULL TRUE)
     message(STATUS "COAL uses system Qhull")
   else()
-    message(STATUS "Qhullcpp not found: it will be build from sources, if Qhull_r is found")
+    message(
+      STATUS
+      "Qhullcpp not found: it will be build from sources, if Qhull_r is found"
+    )
     file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/third-parties)
-    execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink
-      ${PROJECT_SOURCE_DIR}/third-parties/qhull/src/libqhullcpp
-      ${PROJECT_BINARY_DIR}/third-parties/libqhullcpp
-      )
+    execute_process(
+      COMMAND
+        ${CMAKE_COMMAND} -E create_symlink
+        ${PROJECT_SOURCE_DIR}/third-parties/qhull/src/libqhullcpp
+        ${PROJECT_BINARY_DIR}/third-parties/libqhullcpp
+    )
     set(Qhullcpp_PREFIX ${PROJECT_BINARY_DIR}/third-parties)
-    find_path(Qhull_r_INCLUDE_DIR
+    find_path(
+      Qhull_r_INCLUDE_DIR
       NAMES libqhull_r/libqhull_r.h
       PATHS ${Qhull_PREFIX}
-      )
-    find_library(Qhull_r_LIBRARY
-      NAMES libqhull_r.so
-      PATHS ${Qhull_PREFIX}
-      )
+    )
+    find_library(Qhull_r_LIBRARY NAMES libqhull_r.so PATHS ${Qhull_PREFIX})
     if(NOT Qhull_r_LIBRARY)
-      message(FATAL_ERROR "Qhull_r not found, please install it or turn COAL_HAS_QHULL OFF")
+      message(
+        FATAL_ERROR
+        "Qhull_r not found, please install it or turn COAL_HAS_QHULL OFF"
+      )
     endif()
   endif()
 endif()
 
-FIND_PACKAGE(assimp REQUIRED)
+find_package(assimp REQUIRED)
 
-SET(${PROJECT_NAME}_HEADERS
+set(
+  ${PROJECT_NAME}_HEADERS
   include/coal/collision_data.h
   include/coal/BV/kIOS.h
   include/coal/BV/BV.h
@@ -325,10 +363,11 @@ SET(${PROJECT_NAME}_HEADERS
   include/coal/serialization/quadrilateral.h
   include/coal/serialization/triangle.h
   include/coal/timings.h
-  )
+)
 
 if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
-  SET(HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS
+  set(
+    HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS
     include/hpp/fcl/broadphase/broadphase_bruteforce.h
     include/hpp/fcl/broadphase/broadphase_callbacks.h
     include/hpp/fcl/broadphase/broadphase_collision_manager.h
@@ -454,48 +493,60 @@ if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
     include/hpp/fcl/shape/geometric_shape_to_BVH_model.h
     include/hpp/fcl/timings.h
     include/hpp/fcl/warning.hh
-    )
-  LIST(APPEND ${PROJECT_NAME}_HEADERS ${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS})
-  HEADER_INSTALL(COMPONENT hpp-fcl-compatibility ${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS})
+  )
+  list(APPEND ${PROJECT_NAME}_HEADERS ${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS})
+  HEADER_INSTALL(
+    COMPONENT hpp-fcl-compatibility
+    ${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS}
+  )
 endif()
 
-IF(COAL_HAS_OCTOMAP)
-  LIST(APPEND ${PROJECT_NAME}_HEADERS
+if(COAL_HAS_OCTOMAP)
+  list(
+    APPEND
+    ${PROJECT_NAME}_HEADERS
     include/coal/octree.h
     include/coal/serialization/octree.h
     include/coal/internal/traversal_node_octree.h
   )
-ENDIF(COAL_HAS_OCTOMAP)
+endif(COAL_HAS_OCTOMAP)
 
 add_subdirectory(doc)
 add_subdirectory(src)
-if (BUILD_PYTHON_INTERFACE)
+if(BUILD_PYTHON_INTERFACE)
   add_subdirectory(python)
-endif ()
+endif()
 if(BUILD_TESTING)
   add_subdirectory(test)
 endif(BUILD_TESTING)
 
-pkg_config_append_libs("coal")
-IF(COAL_HAS_OCTOMAP)
+PKG_CONFIG_APPEND_LIBS("coal")
+if(COAL_HAS_OCTOMAP)
   # FCL_HAVE_OCTOMAP kept for backward compatibility reasons.
   PKG_CONFIG_APPEND_CFLAGS(
-    "-DCOAL_HAS_OCTOMAP -DCOAL_HAVE_OCTOMAP -DFCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION} -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION} -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION}")
-ENDIF(COAL_HAS_OCTOMAP)
+    "-DCOAL_HAS_OCTOMAP -DCOAL_HAVE_OCTOMAP -DFCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION} -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION} -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION}"
+  )
+endif(COAL_HAS_OCTOMAP)
 
 # Install catkin package.xml
-INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
 
 if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
   include(CMakePackageConfigHelpers)
-  write_basic_package_version_file(hpp-fclConfigVersion.cmake
-      VERSION 3.0.0
-      COMPATIBILITY AnyNewerVersion)
-  install(FILES hpp-fclConfig.cmake ${CMAKE_CURRENT_BINARY_DIR}/hpp-fclConfigVersion.cmake
-          DESTINATION lib/cmake/hpp-fcl
-          COMPONENT hpp-fcl-compatibility)
+  write_basic_package_version_file(
+    hpp-fclConfigVersion.cmake
+    VERSION 3.0.0
+    COMPATIBILITY AnyNewerVersion
+  )
+  install(
+    FILES
+      hpp-fclConfig.cmake
+      ${CMAKE_CURRENT_BINARY_DIR}/hpp-fclConfigVersion.cmake
+    DESTINATION lib/cmake/hpp-fcl
+    COMPONENT hpp-fcl-compatibility
+  )
   include("${JRL_CMAKE_MODULES}/install-helpers.cmake")
-  add_install_target(NAME hpp-fcl-compatibility COMPONENT hpp-fcl-compatibility)
+  ADD_INSTALL_TARGET(NAME hpp-fcl-compatibility COMPONENT hpp-fcl-compatibility)
 endif()
 
-setup_project_finalize()
+SETUP_PROJECT_FINALIZE()
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
index 4f6a9a769..b053976a9 100644
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -1,19 +1,28 @@
-SET(DOXYGEN_XML_OUTPUT          "doxygen-xml"      PARENT_SCOPE)
-SET(DOXYGEN_FILE_PATTERNS       "*.h  *.hh  *.hxx" PARENT_SCOPE)
-SET(DOXYGEN_GENERATE_XML        "YES"              PARENT_SCOPE)
-SET(DOXYGEN_EXPAND_ONLY_PREDEF  "NO"               PARENT_SCOPE)
-SET(DOXYGEN_ENABLE_PREPROCESSING "YES" PARENT_SCOPE)
-SET(DOXYGEN_MACRO_EXPANSION      "YES" PARENT_SCOPE)
-SET(DOXYGEN_EXCLUDE "${PROJECT_SOURCE_DIR}/include/hpp/")
+set(DOXYGEN_XML_OUTPUT "doxygen-xml" PARENT_SCOPE)
+set(DOXYGEN_FILE_PATTERNS "*.h  *.hh  *.hxx" PARENT_SCOPE)
+set(DOXYGEN_GENERATE_XML "YES" PARENT_SCOPE)
+set(DOXYGEN_EXPAND_ONLY_PREDEF "NO" PARENT_SCOPE)
+set(DOXYGEN_ENABLE_PREPROCESSING "YES" PARENT_SCOPE)
+set(DOXYGEN_MACRO_EXPANSION "YES" PARENT_SCOPE)
+set(DOXYGEN_EXCLUDE "${PROJECT_SOURCE_DIR}/include/hpp/")
 
 # We must not document octree if Octomap is not setup.
 # This create a build issue when building the bindings because doxygen-autodoc will
 # include octree.h that will include octomap.h.
-IF(NOT COAL_HAS_OCTOMAP)
-  SET(DOXYGEN_EXCLUDE "${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/octree.h")
-  SET(DOXYGEN_EXCLUDE "${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/serialization/octree.h")
-  SET(DOXYGEN_EXCLUDE "${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/internal/traversal_node_octree.h")
-ENDIF()
-SET(DOXYGEN_EXCLUDE ${DOXYGEN_EXCLUDE} PARENT_SCOPE)
+if(NOT COAL_HAS_OCTOMAP)
+  set(
+    DOXYGEN_EXCLUDE
+    "${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/octree.h"
+  )
+  set(
+    DOXYGEN_EXCLUDE
+    "${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/serialization/octree.h"
+  )
+  set(
+    DOXYGEN_EXCLUDE
+    "${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/internal/traversal_node_octree.h"
+  )
+endif()
+set(DOXYGEN_EXCLUDE ${DOXYGEN_EXCLUDE} PARENT_SCOPE)
 
-SET(DOXYGEN_PREDEFINED          "IS_DOXYGEN"       PARENT_SCOPE)
+set(DOXYGEN_PREDEFINED "IS_DOXYGEN" PARENT_SCOPE)
diff --git a/hpp-fclConfig.cmake b/hpp-fclConfig.cmake
index 7139c9d4f..9cf156e92 100644
--- a/hpp-fclConfig.cmake
+++ b/hpp-fclConfig.cmake
@@ -19,8 +19,9 @@ if(NOT TARGET hpp-fcl::hpp-fcl)
 
   set_target_properties(
     hpp-fcl::hpp-fcl
-    PROPERTIES INTERFACE_COMPILE_DEFINITIONS
-               "COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL"
-               INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
-               INTERFACE_LINK_LIBRARIES "coal::coal")
+    PROPERTIES
+      INTERFACE_COMPILE_DEFINITIONS "COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL"
+      INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
+      INTERFACE_LINK_LIBRARIES "coal::coal"
+  )
 endif()
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 38b98031b..2e0395802 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -35,13 +35,17 @@
 include(${JRL_CMAKE_MODULES}/python-helpers.cmake)
 include(${JRL_CMAKE_MODULES}/stubs.cmake)
 
-ADD_CUSTOM_TARGET(${PROJECT_NAME}_python)
-SET_TARGET_PROPERTIES(${PROJECT_NAME}_python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
+add_custom_target(${PROJECT_NAME}_python)
+set_target_properties(
+  ${PROJECT_NAME}_python
+  PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True
+)
 
 # Name of the Python library
-SET(PYTHON_LIB_NAME ${PROJECT_NAME}_pywrap)
+set(PYTHON_LIB_NAME ${PROJECT_NAME}_pywrap)
 
-SET(${PYTHON_LIB_NAME}_HEADERS
+set(
+  ${PYTHON_LIB_NAME}_HEADERS
   fwd.hh
   coal.hh
   deprecation.hh
@@ -51,65 +55,92 @@ SET(${PYTHON_LIB_NAME}_HEADERS
   pickle.hh
   utils/std-pair.hh
   serializable.hh
+)
+
+set(
+  ENABLE_PYTHON_DOXYGEN_AUTODOC
+  TRUE
+  CACHE BOOL
+  "Enable automatic documentation of Python bindings from Doxygen documentation"
+)
+
+if(NOT ENABLE_PYTHON_DOXYGEN_AUTODOC OR NOT DOXYGEN_FOUND)
+  set(ENABLE_DOXYGEN_AUTODOC FALSE)
+else()
+  set(ENABLE_DOXYGEN_AUTODOC TRUE)
+
+  if(
+    DOXYGEN_VERSION VERSION_GREATER_EQUAL 1.9.8
+    AND DOXYGEN_VERSION VERSION_LESS 1.11.0
   )
-
-SET(ENABLE_PYTHON_DOXYGEN_AUTODOC TRUE CACHE BOOL "Enable automatic documentation of Python bindings from Doxygen documentation")
-
-IF(    NOT ENABLE_PYTHON_DOXYGEN_AUTODOC
-    OR NOT DOXYGEN_FOUND)
-  SET(ENABLE_DOXYGEN_AUTODOC FALSE)
-ELSE()
-  SET(ENABLE_DOXYGEN_AUTODOC TRUE)
-
-  IF(DOXYGEN_VERSION VERSION_GREATER_EQUAL 1.9.8 AND DOXYGEN_VERSION VERSION_LESS 1.11.0)
     # deactivate python doxygen automoc for doxygen 1.9.8 and 1.10.0,
     # as it incorrectly parse "const" keyword,
     # generating wrong links in C++ doc, and fail generating python doc
     # ref. https://github.com/doxygen/doxygen/issues/10797
-    SET(ENABLE_DOXYGEN_AUTODOC FALSE)
-    MESSAGE(AUTHOR_WARNING "automoc deactivated because of doxygen 1.10. Please use <1.10 or >=1.11.")
-  ENDIF()
-  EXECUTE_PROCESS(COMMAND ${PYTHON_EXECUTABLE} -c "import lxml"
+    set(ENABLE_DOXYGEN_AUTODOC FALSE)
+    message(
+      AUTHOR_WARNING
+      "automoc deactivated because of doxygen 1.10. Please use <1.10 or >=1.11."
+    )
+  endif()
+  execute_process(
+    COMMAND ${PYTHON_EXECUTABLE} -c "import lxml"
     RESULT_VARIABLE _pypkg_found
     OUTPUT_QUIET
-    ERROR_QUIET)
-  IF(_pypkg_found EQUAL 0)
-    MESSAGE(STATUS "Found Python package lxml.")
-  ELSE()
-    SET(ENABLE_DOXYGEN_AUTODOC FALSE)
-    MESSAGE(STATUS "Python package lxml not found. Python bindings will not be documented.")
-    MESSAGE(STATUS "  You can install it with: pip install lxml")
-  ENDIF()
-
-  EXECUTE_PROCESS(COMMAND ${PYTHON_EXECUTABLE} -c "import pylatexenc"
+    ERROR_QUIET
+  )
+  if(_pypkg_found EQUAL 0)
+    message(STATUS "Found Python package lxml.")
+  else()
+    set(ENABLE_DOXYGEN_AUTODOC FALSE)
+    message(
+      STATUS
+      "Python package lxml not found. Python bindings will not be documented."
+    )
+    message(STATUS "  You can install it with: pip install lxml")
+  endif()
+
+  execute_process(
+    COMMAND ${PYTHON_EXECUTABLE} -c "import pylatexenc"
     RESULT_VARIABLE _pypkg_found
     OUTPUT_QUIET
-    ERROR_QUIET)
-  IF(NOT _pypkg_found EQUAL 0)
-    MESSAGE(STATUS "Python package pylatexenc not found.")
-    MESSAGE(STATUS "  Formulas in the Python bindings documentation may look ugly.")
-    MESSAGE(STATUS "  You can install it with: pip install pylatexenc")
-  ENDIF()
-  UNSET(_pypkg_found)
-ENDIF()
-IF(ENABLE_DOXYGEN_AUTODOC)
-  ADD_CUSTOM_TARGET(generate_doxygen_cpp_doc
-    COMMAND ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/doc/python/doxygen_xml_parser.py
-    ${PROJECT_BINARY_DIR}/doc/doxygen-xml/index.xml
-    ${CMAKE_CURRENT_BINARY_DIR}/doxygen_autodoc > ${CMAKE_CURRENT_BINARY_DIR}/doxygen_autodoc.log
+    ERROR_QUIET
+  )
+  if(NOT _pypkg_found EQUAL 0)
+    message(STATUS "Python package pylatexenc not found.")
+    message(
+      STATUS
+      "  Formulas in the Python bindings documentation may look ugly."
+    )
+    message(STATUS "  You can install it with: pip install pylatexenc")
+  endif()
+  unset(_pypkg_found)
+endif()
+if(ENABLE_DOXYGEN_AUTODOC)
+  add_custom_target(
+    generate_doxygen_cpp_doc
+    COMMAND
+      ${PYTHON_EXECUTABLE}
+      ${PROJECT_SOURCE_DIR}/doc/python/doxygen_xml_parser.py
+      ${PROJECT_BINARY_DIR}/doc/doxygen-xml/index.xml
+      ${CMAKE_CURRENT_BINARY_DIR}/doxygen_autodoc >
+      ${CMAKE_CURRENT_BINARY_DIR}/doxygen_autodoc.log
     BYPRODUCTS
-    ${CMAKE_CURRENT_BINARY_DIR}/doxygen_autodoc/doxygen_xml_parser_for_cmake.hh
-    ${CMAKE_CURRENT_BINARY_DIR}/doxygen_autodoc.log
+      ${CMAKE_CURRENT_BINARY_DIR}/doxygen_autodoc/doxygen_xml_parser_for_cmake.hh
+      ${CMAKE_CURRENT_BINARY_DIR}/doxygen_autodoc.log
     COMMENT "Generating Doxygen C++ documentation"
-    )
-  ADD_DEPENDENCIES(generate_doxygen_cpp_doc doc)
+  )
+  add_dependencies(generate_doxygen_cpp_doc doc)
 
-  LIST(APPEND ${PYTHON_LIB_NAME}_HEADERS
+  list(
+    APPEND
+    ${PYTHON_LIB_NAME}_HEADERS
     ${CMAKE_CURRENT_BINARY_DIR}/doxygen_autodoc/doxygen_xml_parser_for_cmake.hh
-    )
-ENDIF()
+  )
+endif()
 
-SET(${PYTHON_LIB_NAME}_SOURCES
+set(
+  ${PYTHON_LIB_NAME}_SOURCES
   version.cc
   math.cc
   collision-geometries.cc
@@ -119,78 +150,105 @@ SET(${PYTHON_LIB_NAME}_SOURCES
   coal.cc
   gjk.cc
   broadphase/broadphase.cc
-  )
-
-IF(COAL_HAS_OCTOMAP)
-  LIST(APPEND ${PYTHON_LIB_NAME}_SOURCES octree.cc)
-ENDIF(COAL_HAS_OCTOMAP)
-
-ADD_LIBRARY(${PYTHON_LIB_NAME} MODULE ${${PYTHON_LIB_NAME}_SOURCES} ${${PYTHON_LIB_NAME}_HEADERS})
-TARGET_INCLUDE_DIRECTORIES(${PYTHON_LIB_NAME} SYSTEM PRIVATE ${PYTHON_INCLUDE_DIRS})
-TARGET_INCLUDE_DIRECTORIES(${PYTHON_LIB_NAME} PRIVATE "${PROJECT_SOURCE_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}")
-IF(WIN32)
-  TARGET_LINK_LIBRARIES(${PYTHON_LIB_NAME} PUBLIC ${PYTHON_LIBRARY})
-ENDIF(WIN32)
-
-ADD_DEPENDENCIES(${PROJECT_NAME}_python ${PYTHON_LIB_NAME})
+)
+
+if(COAL_HAS_OCTOMAP)
+  list(APPEND ${PYTHON_LIB_NAME}_SOURCES octree.cc)
+endif(COAL_HAS_OCTOMAP)
+
+add_library(
+  ${PYTHON_LIB_NAME}
+  MODULE
+  ${${PYTHON_LIB_NAME}_SOURCES}
+  ${${PYTHON_LIB_NAME}_HEADERS}
+)
+target_include_directories(
+  ${PYTHON_LIB_NAME}
+  SYSTEM
+  PRIVATE ${PYTHON_INCLUDE_DIRS}
+)
+target_include_directories(
+  ${PYTHON_LIB_NAME}
+  PRIVATE "${PROJECT_SOURCE_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}"
+)
+if(WIN32)
+  target_link_libraries(${PYTHON_LIB_NAME} PUBLIC ${PYTHON_LIBRARY})
+endif(WIN32)
+
+add_dependencies(${PROJECT_NAME}_python ${PYTHON_LIB_NAME})
 ADD_HEADER_GROUP(${PYTHON_LIB_NAME}_HEADERS)
 ADD_SOURCE_GROUP(${PYTHON_LIB_NAME}_SOURCES)
-IF(ENABLE_DOXYGEN_AUTODOC)
-  ADD_DEPENDENCIES(${PYTHON_LIB_NAME} generate_doxygen_cpp_doc)
-  TARGET_COMPILE_DEFINITIONS(${PYTHON_LIB_NAME} PRIVATE -DCOAL_HAS_DOXYGEN_AUTODOC)
-ENDIF()
-
-TARGET_LINK_LIBRARIES(${PYTHON_LIB_NAME} PUBLIC
-  ${PROJECT_NAME}
-  eigenpy::eigenpy
-  Boost::system)
-
-SET_TARGET_PROPERTIES(${PYTHON_LIB_NAME} PROPERTIES
-  PREFIX ""
-  SUFFIX "${PYTHON_EXT_SUFFIX}"
-  OUTPUT_NAME "${PYTHON_LIB_NAME}"
-  LIBRARY_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/python/${PROJECT_NAME}"
-  # On Windows, shared library are treat as binary
-  RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/python/${PROJECT_NAME}"
+if(ENABLE_DOXYGEN_AUTODOC)
+  add_dependencies(${PYTHON_LIB_NAME} generate_doxygen_cpp_doc)
+  target_compile_definitions(
+    ${PYTHON_LIB_NAME}
+    PRIVATE -DCOAL_HAS_DOXYGEN_AUTODOC
   )
+endif()
 
-IF(IS_ABSOLUTE ${PYTHON_SITELIB})
-  SET(ABSOLUTE_PYTHON_SITELIB ${PYTHON_SITELIB})
-ELSE()
-  SET(ABSOLUTE_PYTHON_SITELIB ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB})
-ENDIF()
-SET(${PYTHON_LIB_NAME}_INSTALL_DIR ${ABSOLUTE_PYTHON_SITELIB}/${PROJECT_NAME})
-IF(UNIX)
-  GET_RELATIVE_RPATH(${${PYTHON_LIB_NAME}_INSTALL_DIR} ${PYTHON_LIB_NAME}_INSTALL_RPATH)
-  SET_TARGET_PROPERTIES(${PYTHON_LIB_NAME} PROPERTIES INSTALL_RPATH "${${PYTHON_LIB_NAME}_INSTALL_RPATH}")
-ENDIF()
-
-INSTALL(TARGETS ${PYTHON_LIB_NAME}
+target_link_libraries(
+  ${PYTHON_LIB_NAME}
+  PUBLIC ${PROJECT_NAME} eigenpy::eigenpy Boost::system
+)
+
+set_target_properties(
+  ${PYTHON_LIB_NAME}
+  PROPERTIES
+    PREFIX ""
+    SUFFIX "${PYTHON_EXT_SUFFIX}"
+    OUTPUT_NAME "${PYTHON_LIB_NAME}"
+    LIBRARY_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/python/${PROJECT_NAME}"
+    # On Windows, shared library are treat as binary
+    RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/python/${PROJECT_NAME}"
+)
+
+if(IS_ABSOLUTE ${PYTHON_SITELIB})
+  set(ABSOLUTE_PYTHON_SITELIB ${PYTHON_SITELIB})
+else()
+  set(ABSOLUTE_PYTHON_SITELIB ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB})
+endif()
+set(${PYTHON_LIB_NAME}_INSTALL_DIR ${ABSOLUTE_PYTHON_SITELIB}/${PROJECT_NAME})
+if(UNIX)
+  GET_RELATIVE_RPATH(
+    ${${PYTHON_LIB_NAME}_INSTALL_DIR}
+    ${PYTHON_LIB_NAME}_INSTALL_RPATH
+  )
+  set_target_properties(
+    ${PYTHON_LIB_NAME}
+    PROPERTIES INSTALL_RPATH "${${PYTHON_LIB_NAME}_INSTALL_RPATH}"
+  )
+endif()
+
+install(
+  TARGETS ${PYTHON_LIB_NAME}
   EXPORT ${TARGETS_EXPORT_NAME}
-  DESTINATION ${${PYTHON_LIB_NAME}_INSTALL_DIR})
+  DESTINATION ${${PYTHON_LIB_NAME}_INSTALL_DIR}
+)
 
 # --- GENERATE STUBS
-IF(GENERATE_PYTHON_STUBS)
+if(GENERATE_PYTHON_STUBS)
   LOAD_STUBGEN()
-  GENERATE_STUBS(${CMAKE_CURRENT_BINARY_DIR} ${PROJECT_NAME} ${ABSOLUTE_PYTHON_SITELIB} ${PYTHON_LIB_NAME} ${PROJECT_NAME})
-ENDIF(GENERATE_PYTHON_STUBS)
+  GENERATE_STUBS(
+    ${CMAKE_CURRENT_BINARY_DIR}
+    ${PROJECT_NAME}
+    ${ABSOLUTE_PYTHON_SITELIB}
+    ${PYTHON_LIB_NAME}
+    ${PROJECT_NAME}
+  )
+endif(GENERATE_PYTHON_STUBS)
 
 # --- INSTALL SCRIPTS
-SET(PYTHON_FILES
-  __init__.py
-  viewer.py
-  windows_dll_manager.py
-  )
+set(PYTHON_FILES __init__.py viewer.py windows_dll_manager.py)
 
-FOREACH(python ${PYTHON_FILES})
+foreach(python ${PYTHON_FILES})
   PYTHON_BUILD(${PROJECT_NAME} ${python})
-  INSTALL(FILES
-    "${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}/${python}"
-    DESTINATION ${${PYTHON_LIB_NAME}_INSTALL_DIR})
-ENDFOREACH(python)
-
+  install(
+    FILES "${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}/${python}"
+    DESTINATION ${${PYTHON_LIB_NAME}_INSTALL_DIR}
+  )
+endforeach(python)
 
 if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
-  python_install_on_site(hppfcl __init__.py COMPONENT hpp-fcl-compatibility)
-  python_install_on_site(hppfcl viewer.py COMPONENT hpp-fcl-compatibility)
+  PYTHON_INSTALL_ON_SITE(hppfcl __init__.py COMPONENT hpp-fcl-compatibility)
+  PYTHON_INSTALL_ON_SITE(hppfcl viewer.py COMPONENT hpp-fcl-compatibility)
 endif()
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 0574a84ab..4cd211608 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -33,7 +33,8 @@
 #  POSSIBILITY OF SUCH DAMAGE.
 
 set(LIBRARY_NAME ${PROJECT_NAME})
-set(${LIBRARY_NAME}_SOURCES
+set(
+  ${LIBRARY_NAME}_SOURCES
   collision.cpp
   contact_patch.cpp
   contact_patch/contact_patch_solver.cpp
@@ -108,7 +109,7 @@ set(${LIBRARY_NAME}_SOURCES
   mesh_loader/loader.cpp
   hfield.cpp
   serialization/serialization.cpp
-  )
+)
 
 if(COAL_HAS_OCTOMAP)
   list(APPEND ${LIBRARY_NAME}_SOURCES octree.cpp)
@@ -141,7 +142,7 @@ if(COAL_HAS_QHULL AND NOT COAL_USE_SYSTEM_QHULL)
     ${Qhullcpp_PREFIX}/libqhullcpp/RboxPoints.h
     ${Qhullcpp_PREFIX}/libqhullcpp/RoadError.h
     ${Qhullcpp_PREFIX}/libqhullcpp/RoadLogEvent.h
-    )
+  )
 
   set(
     libqhullcpp_SOURCES
@@ -165,7 +166,7 @@ if(COAL_HAS_QHULL AND NOT COAL_USE_SYSTEM_QHULL)
     ${Qhullcpp_PREFIX}/libqhullcpp/RoadError.cpp
     ${Qhullcpp_PREFIX}/libqhullcpp/RoadLogEvent.cpp
     ${libqhullcpp_HEADERS}
-    )
+  )
 
   # TODO We compile qhullcpp because it is not provided in the binary package while
   # the other parts of Qhull are released.
@@ -175,20 +176,33 @@ if(COAL_HAS_QHULL AND NOT COAL_USE_SYSTEM_QHULL)
   list(APPEND ${LIBRARY_NAME}_SOURCES ${libqhullcpp_SOURCES})
 endif()
 
-SET(PROJECT_HEADERS_FULL_PATH)
-FOREACH(header ${${PROJECT_NAME}_HEADERS})
-  LIST(APPEND PROJECT_HEADERS_FULL_PATH ${PROJECT_SOURCE_DIR}/${header})
-ENDFOREACH()
-LIST(APPEND PROJECT_HEADERS_FULL_PATH ${PROJECT_BINARY_DIR}/include/coal/config.hh)
-LIST(APPEND PROJECT_HEADERS_FULL_PATH ${PROJECT_BINARY_DIR}/include/coal/deprecated.hh)
-LIST(APPEND PROJECT_HEADERS_FULL_PATH ${PROJECT_BINARY_DIR}/include/coal/warning.hh)
-add_library(${LIBRARY_NAME}
+set(PROJECT_HEADERS_FULL_PATH)
+foreach(header ${${PROJECT_NAME}_HEADERS})
+  list(APPEND PROJECT_HEADERS_FULL_PATH ${PROJECT_SOURCE_DIR}/${header})
+endforeach()
+list(
+  APPEND
+  PROJECT_HEADERS_FULL_PATH
+  ${PROJECT_BINARY_DIR}/include/coal/config.hh
+)
+list(
+  APPEND
+  PROJECT_HEADERS_FULL_PATH
+  ${PROJECT_BINARY_DIR}/include/coal/deprecated.hh
+)
+list(
+  APPEND
+  PROJECT_HEADERS_FULL_PATH
+  ${PROJECT_BINARY_DIR}/include/coal/warning.hh
+)
+add_library(
+  ${LIBRARY_NAME}
   SHARED
   ${PROJECT_HEADERS_FULL_PATH}
   ${${LIBRARY_NAME}_SOURCES}
-  )
+)
 add_library(${LIBRARY_NAME}::${LIBRARY_NAME} ALIAS ${LIBRARY_NAME})
-SET_STANDARD_OUTPUT_DIRECTORY(${LIBRARY_NAME})
+set_standard_output_directory(${LIBRARY_NAME})
 
 if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
   add_library(hpp-fcl ALIAS ${LIBRARY_NAME})
@@ -196,100 +210,130 @@ if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
 endif()
 
 if(UNIX)
-  get_relative_rpath(${CMAKE_INSTALL_LIBDIR} ${PROJECT_NAME}_INSTALL_RPATH)
-  set_target_properties(${PROJECT_NAME} PROPERTIES INSTALL_RPATH "${${PROJECT_NAME}_INSTALL_RPATH}")
+  GET_RELATIVE_RPATH(${CMAKE_INSTALL_LIBDIR} ${PROJECT_NAME}_INSTALL_RPATH)
+  set_target_properties(
+    ${PROJECT_NAME}
+    PROPERTIES INSTALL_RPATH "${${PROJECT_NAME}_INSTALL_RPATH}"
+  )
 endif()
 set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${PROJECT_VERSION})
 
-cxx_flags_by_compiler_frontend(
-  MSVC "/bigobj"
-  OUTPUT PUBLIC_OPTIONS
-  FILTER)
+CXX_FLAGS_BY_COMPILER_FRONTEND(MSVC "/bigobj" OUTPUT PUBLIC_OPTIONS FILTER)
 target_compile_options(${PROJECT_NAME} PUBLIC ${PUBLIC_OPTIONS})
 
-cxx_flags_by_compiler_frontend(MSVC "NOMINMAX" OUTPUT PUBLIC_DEFINITIONS)
+CXX_FLAGS_BY_COMPILER_FRONTEND(MSVC "NOMINMAX" OUTPUT PUBLIC_DEFINITIONS)
 target_compile_definitions(${PROJECT_NAME} INTERFACE ${PUBLIC_DEFINITIONS})
 
 # IDE sources and headers sorting
 ADD_SOURCE_GROUP(${LIBRARY_NAME}_SOURCES)
 ADD_HEADER_GROUP(PROJECT_HEADERS_FULL_PATH)
 
-MODERNIZE_TARGET_LINK_LIBRARIES(${LIBRARY_NAME} SCOPE PRIVATE
+MODERNIZE_TARGET_LINK_LIBRARIES(
+  ${LIBRARY_NAME}
+  SCOPE PRIVATE
   TARGETS assimp::assimp
   LIBRARIES ${assimp_LIBRARIES}
-  INCLUDE_DIRS ${assimp_INCLUDE_DIR})
+  INCLUDE_DIRS ${assimp_INCLUDE_DIR}
+)
 
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
-  PUBLIC
-  Boost::serialization
-  Boost::chrono
-  Boost::filesystem
+target_link_libraries(
+  ${LIBRARY_NAME}
+  PUBLIC Boost::serialization Boost::chrono Boost::filesystem
 )
 
-if (COAL_ENABLE_LOGGING)
-  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} PUBLIC Boost::log)
+if(COAL_ENABLE_LOGGING)
+  target_link_libraries(${LIBRARY_NAME} PUBLIC Boost::log)
   # The compile flag `BOOST_LOG_DYN_LINK` is required here.
-  target_compile_definitions(${LIBRARY_NAME} PUBLIC COAL_ENABLE_LOGGING BOOST_LOG_DYN_LINK)
+  target_compile_definitions(
+    ${LIBRARY_NAME}
+    PUBLIC COAL_ENABLE_LOGGING BOOST_LOG_DYN_LINK
+  )
 endif()
 
-IF(WIN32)
-  TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
-    INTERFACE
-    Boost::thread
-    Boost::date_time
+if(WIN32)
+  target_link_libraries(
+    ${LIBRARY_NAME}
+    INTERFACE Boost::thread Boost::date_time
   )
   # There is an issue with MSVC 2017 and Eigen (due to std::aligned_storage).
   # See https://github.com/ceres-solver/ceres-solver/issues/481
-  target_compile_definitions(${LIBRARY_NAME} PRIVATE _ENABLE_EXTENDED_ALIGNED_STORAGE)
-ENDIF(WIN32)
+  target_compile_definitions(
+    ${LIBRARY_NAME}
+    PRIVATE _ENABLE_EXTENDED_ALIGNED_STORAGE
+  )
+endif(WIN32)
 
-if (COAL_TURN_ASSERT_INTO_EXCEPTION)
-  target_compile_definitions(${LIBRARY_NAME} PUBLIC -DCOAL_TURN_ASSERT_INTO_EXCEPTION)
+if(COAL_TURN_ASSERT_INTO_EXCEPTION)
+  target_compile_definitions(
+    ${LIBRARY_NAME}
+    PUBLIC -DCOAL_TURN_ASSERT_INTO_EXCEPTION
+  )
 endif()
 
-if (COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
-  target_compile_definitions(${LIBRARY_NAME} PUBLIC -DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
+if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
+  target_compile_definitions(
+    ${LIBRARY_NAME}
+    PUBLIC -DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL
+  )
 endif()
 
 if(COAL_HAS_QHULL)
   target_compile_definitions(${LIBRARY_NAME} PRIVATE -DCOAL_HAS_QHULL)
-  if (COAL_USE_SYSTEM_QHULL)
-    target_link_libraries(${LIBRARY_NAME} PRIVATE Qhull::qhull_r Qhull::qhullcpp)
+  if(COAL_USE_SYSTEM_QHULL)
+    target_link_libraries(
+      ${LIBRARY_NAME}
+      PRIVATE Qhull::qhull_r Qhull::qhullcpp
+    )
   else()
-    target_include_directories(${LIBRARY_NAME} SYSTEM PRIVATE
-      ${Qhull_r_INCLUDE_DIR} ${Qhullcpp_PREFIX})
+    target_include_directories(
+      ${LIBRARY_NAME}
+      SYSTEM
+      PRIVATE ${Qhull_r_INCLUDE_DIR} ${Qhullcpp_PREFIX}
+    )
     target_link_libraries(${LIBRARY_NAME} PRIVATE "${Qhull_r_LIBRARY}")
   endif()
 endif()
 
-MODERNIZE_TARGET_LINK_LIBRARIES(${PROJECT_NAME} SCOPE PUBLIC
+MODERNIZE_TARGET_LINK_LIBRARIES(
+  ${PROJECT_NAME}
+  SCOPE PUBLIC
   TARGETS Eigen3::Eigen
-  INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+  INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}
+)
 
-target_include_directories(${LIBRARY_NAME}
+target_include_directories(
+  ${LIBRARY_NAME}
   PUBLIC
-  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
-  $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
-  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-  )
+    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
+    $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+)
 
-IF(octomap_FOUND)
-  MODERNIZE_TARGET_LINK_LIBRARIES(${PROJECT_NAME} SCOPE PUBLIC
+if(octomap_FOUND)
+  MODERNIZE_TARGET_LINK_LIBRARIES(
+    ${PROJECT_NAME}
+    SCOPE PUBLIC
     TARGETS octomap
     LIBRARIES ${OCTOMAP_LIBRARIES}
-    INCLUDE_DIRS ${OCTOMAP_INCLUDE_DIRS})
-  target_compile_definitions (${LIBRARY_NAME} PUBLIC
-    -DCOAL_HAS_OCTOMAP
-    -DCOAL_HAVE_OCTOMAP
-    -DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION}
-    -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION}
-    -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION})
-ENDIF(octomap_FOUND)
+    INCLUDE_DIRS ${OCTOMAP_INCLUDE_DIRS}
+  )
+  target_compile_definitions(
+    ${LIBRARY_NAME}
+    PUBLIC
+      -DCOAL_HAS_OCTOMAP
+      -DCOAL_HAVE_OCTOMAP
+      -DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION}
+      -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION}
+      -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION}
+  )
+endif(octomap_FOUND)
 
-install(TARGETS ${LIBRARY_NAME}
+install(
+  TARGETS ${LIBRARY_NAME}
   EXPORT ${TARGETS_EXPORT_NAME}
   PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
   INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
   LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+)
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index ba83183ef..2e0f2d783 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,19 +1,20 @@
 # Find Boost.UnitTestFramework
-FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework filesystem)
+find_package(Boost REQUIRED COMPONENTS unit_test_framework filesystem)
 
-config_files(fcl_resources/config.h)
+CONFIG_FILES(fcl_resources/config.h)
 
 function(add_coal_test test_name source)
   set(target_name ${PROJECT_NAME}-${test_name})
   ADD_UNIT_TEST(${target_name} ${source})
-  SET_STANDARD_OUTPUT_DIRECTORY(${target_name})
-  target_link_libraries(${target_name}
-    PUBLIC
-    ${LIBRARY_NAME}
-    Boost::filesystem
-    ${utility_target}
-    )
-  cxx_flags_by_compiler_frontend(GNU "-Wno-c99-extensions" OUTPUT PRIVATE_OPTIONS)
+  set_standard_output_directory(${target_name})
+  target_link_libraries(
+    ${target_name}
+    PUBLIC ${LIBRARY_NAME} Boost::filesystem ${utility_target}
+  )
+  CXX_FLAGS_BY_COMPILER_FRONTEND(
+    GNU "-Wno-c99-extensions"
+    OUTPUT PRIVATE_OPTIONS
+  )
   target_compile_options(${target_name} PRIVATE ${PRIVATE_OPTIONS})
   if(COAL_HAS_QHULL)
     target_compile_options(${target_name} PRIVATE -DCOAL_HAS_QHULL)
@@ -24,7 +25,7 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 set(utility_target ${PROJECT_NAME}-utility)
 add_library(${utility_target} STATIC utility.cpp)
-SET_STANDARD_OUTPUT_DIRECTORY(${utility_target})
+set_standard_output_directory(${utility_target})
 target_link_libraries(${utility_target} PUBLIC ${PROJECT_NAME})
 
 add_coal_test(math math.cpp)
@@ -41,7 +42,7 @@ add_coal_test(shape_inflation shape_inflation.cpp)
 #add_coal_test(shape_mesh_consistency shape_mesh_consistency.cpp)
 add_coal_test(gjk_asserts gjk_asserts.cpp)
 add_coal_test(frontlist frontlist.cpp)
-SET_TESTS_PROPERTIES(${PROJECT_NAME}-frontlist PROPERTIES TIMEOUT 7200)
+set_tests_properties(${PROJECT_NAME}-frontlist PROPERTIES TIMEOUT 7200)
 
 # add_coal_test(sphere_capsule sphere_capsule.cpp)
 add_coal_test(capsule_capsule capsule_capsule.cpp)
@@ -78,15 +79,13 @@ add_coal_test(broadphase_collision_2 broadphase_collision_2.cpp)
 ## Benchmark
 set(test_benchmark_target ${PROJECT_NAME}-test-benchmark)
 add_executable(${test_benchmark_target} benchmark.cpp)
-SET_STANDARD_OUTPUT_DIRECTORY(${test_benchmark_target})
-target_link_libraries(${test_benchmark_target}
-  PUBLIC
-  ${utility_target}
-  Boost::filesystem
-  ${PROJECT_NAME}
-  )
+set_standard_output_directory(${test_benchmark_target})
+target_link_libraries(
+  ${test_benchmark_target}
+  PUBLIC ${utility_target} Boost::filesystem ${PROJECT_NAME}
+)
 
 ## Python tests
-IF(BUILD_PYTHON_INTERFACE)
-  ADD_SUBDIRECTORY(python_unit)
-ENDIF(BUILD_PYTHON_INTERFACE)
+if(BUILD_PYTHON_INTERFACE)
+  add_subdirectory(python_unit)
+endif(BUILD_PYTHON_INTERFACE)
diff --git a/test/python_unit/CMakeLists.txt b/test/python_unit/CMakeLists.txt
index 1e3a95298..d1eba043c 100644
--- a/test/python_unit/CMakeLists.txt
+++ b/test/python_unit/CMakeLists.txt
@@ -1,12 +1,17 @@
-SET(${PROJECT_NAME}_PYTHON_TESTS
+set(
+  ${PROJECT_NAME}_PYTHON_TESTS
   geometric_shapes
   api
   collision
   collision_manager
   pickling
-  )
+)
 
-ADD_DEPENDENCIES(build_tests ${PROJECT_NAME}_pywrap)
-FOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
-  ADD_PYTHON_UNIT_TEST("${PROJECT_NAME}-py-${TEST}" "test/python_unit/${TEST}.py" "python")
-ENDFOREACH()
+add_dependencies(build_tests ${PROJECT_NAME}_pywrap)
+foreach(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
+  ADD_PYTHON_UNIT_TEST(
+    "${PROJECT_NAME}-py-${TEST}"
+    "test/python_unit/${TEST}.py"
+    "python"
+  )
+endforeach()